#include <KFTrajectoryFitter.h>

Inheritance diagram for KFTrajectoryFitter:

Public Member Functions
std::unique_ptr< TrajectoryFitter >	clone () const override

const MeasurementEstimator *	estimator () const

Trajectory	fitOne (const Trajectory &aTraj, fitType) const override

Trajectory	fitOne (const TrajectorySeed &aSeed, const RecHitContainer &hits, fitType) const override

Trajectory	fitOne (const TrajectorySeed &aSeed, const RecHitContainer &hits, const TSOS &firstPredTsos, fitType) const override

	KFTrajectoryFitter (const Propagator &aPropagator, const TrajectoryStateUpdator &aUpdator, const MeasurementEstimator &aEstimator, int minHits=3, const DetLayerGeometry detLayerGeometry=nullptr, TkCloner const hc=nullptr)

	KFTrajectoryFitter (const Propagator aPropagator, const TrajectoryStateUpdator aUpdator, const MeasurementEstimator aEstimator, int minHits=3, const DetLayerGeometry detLayerGeometry=nullptr, TkCloner const *hc=nullptr)

	KFTrajectoryFitter (KFTrajectoryFitter const &)=delete

const Propagator *	propagator () const

void	setHitCloner (TkCloner const *hc) override

const TrajectoryStateUpdator *	updator () const

	~KFTrajectoryFitter () override

Public Member Functions inherited from TrajectoryFitter
std::vector< Trajectory >	fit (const Trajectory &traj, fitType type=standard) const

std::vector< Trajectory >	fit (const TrajectorySeed &seed, const RecHitContainer &hits, fitType type=standard) const

std::vector< Trajectory >	fit (const TrajectorySeed &seed, const RecHitContainer &hits, const TrajectoryStateOnSurface &tsos, fitType type=standard) const

virtual	~TrajectoryFitter ()

Private Types
typedef FreeTrajectoryState	FTS

typedef TrajectoryMeasurement	TM

typedef TrajectoryStateOnSurface	TSOS

Private Attributes
int	minHits_

bool	owner

const MeasurementEstimator *	theEstimator

const DetLayerGeometry *	theGeometry

TkCloner const *	theHitCloner = nullptr

const Propagator *	thePropagator

const TrajectoryStateUpdator *	theUpdator

Static Private Attributes
static const DetLayerGeometry	dummyGeometry

Additional Inherited Members
Public Types inherited from TrajectoryFitter
enum	fitType { standard = 0, looper = 1 }

typedef Trajectory::RecHitContainer	RecHitContainer

typedef TrajectoryFitterRecord	Record

Detailed Description

A Kalman track fit that splits matched RecHits into individual components before fitting them. Ported from ORCA

Author: todorov, cerati

A Standard Kalman fit. Ported from ORCA

Author: todorov, cerati

Definition at line 22 of file KFTrajectoryFitter.h.

Member Typedef Documentation

typedef FreeTrajectoryState KFTrajectoryFitter::FTS

private

Definition at line 25 of file KFTrajectoryFitter.h.

typedef TrajectoryMeasurement KFTrajectoryFitter::TM

private

Definition at line 26 of file KFTrajectoryFitter.h.

typedef TrajectoryStateOnSurface KFTrajectoryFitter::TSOS

private

Definition at line 24 of file KFTrajectoryFitter.h.

Constructor & Destructor Documentation

KFTrajectoryFitter::KFTrajectoryFitter	(	const Propagator &	aPropagator,
		const TrajectoryStateUpdator &	aUpdator,
		const MeasurementEstimator &	aEstimator,
		int	minHits = `3`,
		const DetLayerGeometry *	detLayerGeometry = `nullptr`,
		TkCloner const *	hc = `nullptr`
	)

inline

Definition at line 30 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

Referenced by clone().

       : thePropagator(aPropagator.clone()),
         theUpdator(aUpdator.clone()),
         theEstimator(aEstimator.clone()),
         theHitCloner(hc),
         theGeometry(detLayerGeometry),
         minHits_(minHits),
         owner(true) {
     if (!theGeometry)
       theGeometry = &dummyGeometry;
     // FIXME. Why this first constructor is needed? who is using it? Can it be removed?
     // it is uses in many many places
   }

KFTrajectoryFitter::KFTrajectoryFitter	(	const Propagator *	aPropagator,
		const TrajectoryStateUpdator *	aUpdator,
		const MeasurementEstimator *	aEstimator,
		int	minHits = `3`,
		const DetLayerGeometry *	detLayerGeometry = `nullptr`,
		TkCloner const *	hc = `nullptr`
	)

inline

Definition at line 49 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

       : thePropagator(aPropagator),
         theUpdator(aUpdator),
         theEstimator(aEstimator),
         theHitCloner(hc),
         theGeometry(detLayerGeometry),
         minHits_(minHits),
         owner(false) {
     if (!theGeometry)
       theGeometry = &dummyGeometry;
   }

KFTrajectoryFitter::KFTrajectoryFitter ( KFTrajectoryFitter const & )

delete

KFTrajectoryFitter::~KFTrajectoryFitter ( )

inlineoverride

Definition at line 68 of file KFTrajectoryFitter.h.

References owner, theEstimator, thePropagator, and theUpdator.

                                  {
     if (owner) {
       delete thePropagator;
       delete theUpdator;
       delete theEstimator;
     }
   }

Member Function Documentation

std::unique_ptr<TrajectoryFitter> KFTrajectoryFitter::clone ( void ) const

inlineoverridevirtual

Implements TrajectoryFitter.

Definition at line 88 of file KFTrajectoryFitter.h.

References KFTrajectoryFitter(), minHits_, owner, theEstimator, theGeometry, theHitCloner, thePropagator, and theUpdator.

                                                          {
     return owner ? std::unique_ptr<TrajectoryFitter>(new KFTrajectoryFitter(
                        *thePropagator, *theUpdator, *theEstimator, minHits_, theGeometry, theHitCloner))
                  : std::unique_ptr<TrajectoryFitter>(new KFTrajectoryFitter(
                        thePropagator, theUpdator, theEstimator, minHits_, theGeometry, theHitCloner));
   }

const MeasurementEstimator* KFTrajectoryFitter::estimator ( void ) const

inline

Definition at line 86 of file KFTrajectoryFitter.h.

References theEstimator.

Referenced by KFSplittingFitter::clone(), and fitOne().

86 { return theEstimator; }

KFTrajectoryFitter::theEstimator

const MeasurementEstimator * theEstimator

Definition: KFTrajectoryFitter.h:102

Trajectory KFTrajectoryFitter::fitOne	(	const Trajectory &	aTraj,
		fitType	type
	)		const

overridevirtual

Implements TrajectoryFitter.

Definition at line 14 of file KFTrajectoryFitter.cc.

References Trajectory::empty(), Trajectory::firstMeasurement(), Trajectory::recHits(), Trajectory::seed(), and TrajectoryMeasurement::updatedState().

Referenced by KFSplittingFitter::fitOne().

                                                                                  {
   if (aTraj.empty())
     return Trajectory();
 
   const TM& firstTM = aTraj.firstMeasurement();
   TSOS firstTsos = TrajectoryStateWithArbitraryError()(firstTM.updatedState());
 
   return fitOne(aTraj.seed(), aTraj.recHits(), firstTsos, type);
 }

Trajectory KFTrajectoryFitter::fitOne	(	const TrajectorySeed &	aSeed,
		const RecHitContainer &	hits,
		fitType
	)		const

overridevirtual

Implements TrajectoryFitter.

Definition at line 24 of file KFTrajectoryFitter.cc.

References Exception.

                                                                                                   {
   throw cms::Exception("TrackFitters",
                        "KFTrajectoryFitter::fit(TrajectorySeed, <TransientTrackingRecHit>) not implemented");
 
   return Trajectory();
 }

Trajectory KFTrajectoryFitter::fitOne	(	const TrajectorySeed &	aSeed,
		const RecHitContainer &	hits,
		const TSOS &	firstPredTsos,
		fitType
	)		const

overridevirtual

Implements TrajectoryFitter.

Definition at line 31 of file KFTrajectoryFitter.cc.

References funct::abs(), anyDirection, cms::cuda::assert(), TrackingRecHit::canImproveWithTrack(), DetId::det(), TrajectorySeed::direction(), remoteMonitoring_LASER_era2018_cfg::dump, estimator(), TrackingRecHit::geographicalId(), hitcounter, DetLayerGeometry::idToLayer(), edm::isNotFinite(), TrajectoryStateOnSurface::isValid(), TrackingRecHit::isValid(), dqmiolumiharvest::j, LIKELY, TrajectoryStateOnSurface::localError(), TrajectoryStateOnSurface::localParameters(), TrajectoryStateOnSurface::localPosition(), LogDebug, LogTrace, TkCloner::makeShared(), minHits_, LocalTrajectoryError::posDef(), GloballyPositioned< T >::position(), LocalTrajectoryParameters::position(), LocalTrajectoryParameters::qbp(), runTheMatrix::ret, edm::second(), SetPropagationDirection(), TrackingRecHit::surface(), theGeometry, theHitCloner, thePropagator, DetId::Tracker, UNLIKELY, TrajectoryStateUpdator::update(), updator(), PV3DBase< T, PVType, FrameType >::x(), and PV3DBase< T, PVType, FrameType >::y().

                                                      {
   if (hits.empty())
     return Trajectory();
 
   if UNLIKELY (aSeed.direction() == anyDirection)
     throw cms::Exception("KFTrajectoryFitter", "TrajectorySeed::direction() requested but not set");
 
   std::unique_ptr<Propagator> p_cloned = SetPropagationDirection(*thePropagator, aSeed.direction());
 
 #ifdef EDM_ML_DEBUG
   LogDebug("TrackFitters")
       << " +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n"
       << " KFTrajectoryFitter::fit starting with " << hits.size() << " HITS";
 
   for (unsigned int j = 0; j < hits.size(); j++) {
     if (hits[j]->det())
       LogTrace("TrackFitters") << "hit #:" << j + 1 << " rawId=" << hits[j]->det()->geographicalId().rawId()
                                << " validity=" << hits[j]->isValid();
     else
       LogTrace("TrackFitters") << "hit #:" << j + 1 << " Hit with no Det information";
   }
   LogTrace("TrackFitters") << " INITIAL STATE " << firstPredTsos;
 #endif
 
   Trajectory ret(aSeed, p_cloned->propagationDirection());
   Trajectory& myTraj = ret;
   myTraj.reserve(hits.size());
 
   TSOS predTsos(firstPredTsos);
   TSOS currTsos;
 
   int hitcounter = 0;
   for (const auto& ihit : hits) {
     ++hitcounter;
 
     const TransientTrackingRecHit& hit = (*ihit);
 
     // if UNLIKELY(hit.det() == nullptr) continue;
 
     if UNLIKELY ((!hit.isValid()) && hit.surface() == nullptr) {
       LogDebug("TrackFitters") << " Error: invalid hit with no GeomDet attached .... skipping";
       continue;
     }
     // if (hit.det() && hit.geographicalId()<1000U) LogDebug("TrackFitters")<< "Problem 0 det id for " << typeid(hit).name() << ' ' <<  hit.det()->geographicalId() ;
     // if (hit.isValid() && hit.geographicalId()<1000U) LogDebug("TrackFitters")<< "Problem 0 det id for " << typeid(hit).name() << ' ' <<  hit.det()->geographicalId();
 
     if (hitcounter != 1)  //no propagation needed for the first hit
       predTsos = p_cloned->propagate(currTsos, *(hit.surface()));
 
     if UNLIKELY (!predTsos.isValid()) {
       LogDebug("TrackFitters") << "SOMETHING WRONG !"
                                << "\n"
                                << "KFTrajectoryFitter: predicted tsos not valid!\n"
                                << "current TSOS: " << currTsos << "\n";
 
       if (hit.surface())
         LogTrace("TrackFitters") << "next Surface: " << hit.surface()->position() << "\n";
 
       if (myTraj.foundHits() >= minHits_) {
         LogDebug("TrackFitters") << " breaking trajectory"
                                  << "\n";
         break;
       } else {
         LogDebug("TrackFitters") << " killing trajectory"
                                  << "\n";
         return Trajectory();
       }
     }
 
     if LIKELY (hit.isValid()) {
       assert((hit.geographicalId() != 0U) | !hit.canImproveWithTrack());
       assert(hit.surface() != nullptr);
       //update
       LogTrace("TrackFitters") << "THE HIT IS VALID: updating hit with predTsos";
       assert((!hit.canImproveWithTrack()) | (nullptr != theHitCloner));
       assert((!hit.canImproveWithTrack()) | (nullptr != dynamic_cast<BaseTrackerRecHit const*>((ihit).get())));
       auto preciseHit = theHitCloner->makeShared(ihit, predTsos);
       dump(*preciseHit, hitcounter, "TrackFitters");
       assert(preciseHit->isValid());
       assert((preciseHit->geographicalId() != 0U) | (!preciseHit->canImproveWithTrack()));
       assert(preciseHit->surface() != nullptr);
 
       if UNLIKELY (!preciseHit->isValid()) {
         LogTrace("TrackFitters") << "THE Precise HIT IS NOT VALID: using currTsos = predTsos"
                                  << "\n";
         currTsos = predTsos;
         myTraj.push(TM(predTsos, ihit, 0, theGeometry->idToLayer((ihit)->geographicalId())));
       } else {
         LogTrace("TrackFitters") << "THE Precise HIT IS VALID: updating currTsos"
                                  << "\n";
         currTsos = updator()->update(predTsos, *preciseHit);
         //check for valid hits with no det (refitter with constraints)
         bool badState = (!currTsos.isValid()) ||
                         (hit.geographicalId().det() == DetId::Tracker &&
                          (std::abs(currTsos.localParameters().qbp()) > 100 ||
                           std::abs(currTsos.localParameters().position().y()) > 1000 ||
                           std::abs(currTsos.localParameters().position().x()) > 1000)) ||
                         edm::isNotFinite(currTsos.localParameters().qbp()) || !currTsos.localError().posDef();
         if UNLIKELY (badState) {
           if (!currTsos.isValid()) {
             edm::LogError("FailedUpdate") << "updating with the hit failed. Not updating the trajectory with the hit";
 
           } else if (edm::isNotFinite(currTsos.localParameters().qbp())) {
             edm::LogError("TrajectoryNaN") << "Trajectory has NaN";
 
           } else if (!currTsos.localError().posDef()) {
             edm::LogError("TrajectoryNotPosDef") << "Trajectory covariance is not positive-definite";
 
           } else {
             LogTrace("FailedUpdate") << "updated state is valid but pretty bad, skipping. currTsos " << currTsos
                                      << "\n predTsos " << predTsos;
           }
           myTraj.push(TM(predTsos, ihit, 0, theGeometry->idToLayer((ihit)->geographicalId())));
           //There is a no-fail policy here. So, it's time to give up
           //Keep the traj with invalid TSOS so that it's clear what happened
           if (myTraj.foundHits() >= minHits_) {
             LogDebug("TrackFitters") << " breaking trajectory"
                                      << "\n";
             break;
           } else {
             LogDebug("TrackFitters") << " killing trajectory"
                                      << "\n";
             return Trajectory();
           }
         } else {
           if (preciseHit->det()) {
             myTraj.push(TM(predTsos,
                            currTsos,
                            preciseHit,
                            estimator()->estimate(predTsos, *preciseHit).second,
                            theGeometry->idToLayer(preciseHit->geographicalId())));
           } else {
             myTraj.push(TM(predTsos, currTsos, preciseHit, estimator()->estimate(predTsos, *preciseHit).second));
           }
         }
       }
     } else {  // invalid hit
       dump(hit, hitcounter, "TrackFitters");
       //no update
       LogDebug("TrackFitters") << "THE HIT IS NOT VALID: using currTsos"
                                << "\n";
       currTsos = predTsos;
       assert(((ihit)->det() == nullptr) || (ihit)->geographicalId() != 0U);
       if ((ihit)->det())
         myTraj.push(TM(predTsos, ihit, 0, theGeometry->idToLayer((ihit)->geographicalId())));
       else
         myTraj.push(TM(predTsos, ihit, 0));
     }
     LogTrace("TrackFitters") << "predTsos !"
                              << "\n"
                              << predTsos << " with local position " << predTsos.localPosition() << "currTsos !"
                              << "\n"
                              << currTsos << " with local position " << currTsos.localPosition();
   }
 
   LogDebug("TrackFitters") << "Found 1 trajectory with " << myTraj.foundHits() << " valid hits\n";
 
   return ret;
 }